Modelling and dynamic analysis of a two-link manipulator with both joint and link flexibilities

This paper investigates the dynamic characteristics of a two-link planar flexible manipulator with large joint angle motions. Both the links and the joints of the manipulator are considered to be very flexible. A comprehensive dynamic model for the manipulator is derived with the assumed modes approach and the Lagrangian formulation. The dynamics of the arms internal structural damping, dry friction at the joints, and backlash between driving …